From 41224a4a4105efce91b97b2fbe553ff898eac947 Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Thu, 27 Sep 2018 20:45:39 -0400
Subject: [PATCH] Move Endstop's config struct into the class to unify the
 style

---
 Firmware/MotorControl/endstop.cpp |  2 +-
 Firmware/MotorControl/endstop.hpp | 33 +++++++++++++------------------
 Firmware/MotorControl/main.cpp    | 12 +++++------
 3 files changed, 21 insertions(+), 26 deletions(-)

diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp
index ac0ff9a1..4443fdd6 100644
--- a/Firmware/MotorControl/endstop.cpp
+++ b/Firmware/MotorControl/endstop.cpp
@@ -1,6 +1,6 @@
 #include <odrive_main.h>
 
-Endstop::Endstop(EndstopConfig_t &config)
+Endstop::Endstop(Endstop::Config_t &config)
     : config_(config) {
         set_endstop_enabled(config_.enabled);
 }
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 6e9cb46f..92ff10d7 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -1,20 +1,19 @@
 #ifndef __ENDSTOP_HPP
 #define __ENDSTOP_HPP
 
-
-struct EndstopConfig_t {
-    uint16_t gpio_num;
-    bool enabled = false;
-    int32_t offset = 0;
-    bool is_active_high = false;
-    float debounce_ms = 100.0f;
-};
-
 class Endstop {
    public:
-    Endstop(EndstopConfig_t& config);
-    
-    EndstopConfig_t& config_;
+    struct Config_t {
+        uint16_t gpio_num;
+        bool enabled = false;
+        int32_t offset = 0;
+        bool is_active_high = false;
+        float debounce_ms = 100.0f;
+    };
+
+    Endstop(Endstop::Config_t& config);
+
+    Endstop::Config_t& config_;
     Axis* axis_ = nullptr;
 
     void set_endstop_enabled(bool enable);
@@ -23,10 +22,9 @@ class Endstop {
 
     bool getEndstopState();
 
-
     bool endstop_state_ = false;
-    
-    auto make_protocol_definitions(){
+
+    auto make_protocol_definitions() {
         return make_protocol_member_list(
             make_protocol_ro_property("endstop_state_", &endstop_state_),
             make_protocol_object("config",
@@ -34,13 +32,10 @@ class Endstop {
                                  make_protocol_property("enabled", &config_.enabled),
                                  make_protocol_property("offset", &config_.offset),
                                  make_protocol_property("is_active_high", &config_.is_active_high),
-                                 make_protocol_property("debounce_ms", &config_.debounce_ms)
-                                )
-        );
+                                 make_protocol_property("debounce_ms", &config_.debounce_ms)));
     }
 
    private:
-    
     bool pin_state_ = false;
     volatile float debounce_timer_ = 0;
 };
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index ebfe25a6..39921fea 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -15,8 +15,8 @@ Controller::Config_t controller_configs[AXIS_COUNT];
 Motor::Config_t motor_configs[AXIS_COUNT];
 Axis::Config_t axis_configs[AXIS_COUNT];
 TrapezoidalTrajectory::Config_t trap_configs[AXIS_COUNT];
-EndstopConfig_t min_endstop_configs[AXIS_COUNT];
-EndstopConfig_t max_endstop_configs[AXIS_COUNT];
+Endstop::Config_t min_endstop_configs[AXIS_COUNT];
+Endstop::Config_t max_endstop_configs[AXIS_COUNT];
 bool user_config_loaded_;
 
 SystemStats_t system_stats_ = { 0 };
@@ -30,8 +30,8 @@ typedef Config<
     Controller::Config_t[AXIS_COUNT],
     Motor::Config_t[AXIS_COUNT],
     TrapezoidalTrajectory::Config_t[AXIS_COUNT],
-    EndstopConfig_t[AXIS_COUNT],
-    EndstopConfig_t[AXIS_COUNT],
+    Endstop::Config_t[AXIS_COUNT],
+    Endstop::Config_t[AXIS_COUNT],
     Axis::Config_t[AXIS_COUNT]> ConfigFormat;
 
 void save_configuration(void) {
@@ -73,8 +73,8 @@ void load_configuration(void) {
             motor_configs[i] = Motor::Config_t();
             trap_configs[i] = TrapezoidalTrajectory::Config_t();
             axis_configs[i] = Axis::Config_t();
-            min_endstop_configs[i] = EndstopConfig_t();
-            max_endstop_configs[i] = EndstopConfig_t();
+            min_endstop_configs[i] = Endstop::Config_t();
+            max_endstop_configs[i] = Endstop::Config_t();
         }
     } else {
         user_config_loaded_ = true;